I have to feed the animals as well as look after the children.
I have to feed the animals as well as to look after the children.
I have animals to feed as well as the children to look after. -- two coordinated NP's (not infinitives)
In 'have to', there is no 'to' without 'have'. You cannot elide 'have' because by doing so the modal idiom loses its force of obligation.
Student or Learner